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�������պ����ѧѧ�� 2012, Vol. Issue (3) :351-356    DOI:
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Mechanism parameters optimization of bionic frog jumping robot based on velocity directional manipulability measure
Hu Shenghai, Yang Qi, He Lei, Tan Xiangquan*
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China

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Abstract�� The improvement of jumping performance of bionic frog jumping robot was pursued in view of the mechanism design, taking velocity directional measure as an evaluating index of jumping performance. On the basis of bionic frog jumping robot mechanism model, kinematic equations in takeoff phase were established, and the velocity mapping relation of robot from the joint space to the moving space of the center of mass was obtained. Optimal algorithm combined with velocity directional measure was used to optimize the mechanism parameters of the bionic frog jumping robot, in order to optimize the jumping performance of the robot. The optimal result shows that the research on mechanism parameters optimization of jumping robot is feasible by using the theory of velocity directional measure.
Keywords�� velocity directional manipulability measure   jumping robot   jumping performance   mechanism parameters optimization     
Received 2010-11-14;
Fund:�ߵ�ѧУ��ʿѧ�Ƶ�ר����л���������Ŀ(20092304120014)
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��ʤ��, ����, ����, ̷��ȫ.�����ٶȷ���ɲ����ȵĻ����ܻ��������Ż�[J]  �������պ����ѧѧ��, 2012,V(3): 351-356
Hu Shenghai, Yang Qi, He Lei, Tan Xiangquan.Mechanism parameters optimization of bionic frog jumping robot based on velocity directional manipulability measure[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2012,V(3): 351-356
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http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2012/V/I3/351
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